rpi: exclude additional code from non-arm builds (#5893)
This commit is contained in:
Alessandro Ros
@@ -4,6 +4,7 @@ package rpicamera
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import (
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"debug/elf"
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"errors"
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"fmt"
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"os"
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"os/exec"
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@@ -14,8 +15,6 @@ import (
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"sync"
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"syscall"
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"time"
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"github.com/bluenviron/mediacommon/v2/pkg/codecs/h264"
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)
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const (
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@@ -174,8 +173,8 @@ func freeComponent() {
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}
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type camera struct {
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params params
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onData func(int64, time.Time, [][]byte)
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params cameraParams
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onData func(int64, time.Time, []byte)
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onDataSecondary func(int64, time.Time, []byte)
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cmd *exec.Cmd
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@@ -309,7 +308,7 @@ outer:
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switch buf[0] {
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case 'e':
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return fmt.Errorf(string(buf[1:]))
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return errors.New(string(buf[1:]))
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case 'r':
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break outer
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@@ -327,7 +326,7 @@ outer:
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switch buf[0] {
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case 'e':
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return fmt.Errorf(string(buf[1:]))
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return errors.New(string(buf[1:]))
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case 'd':
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dts := int64(buf[8])<<56 | int64(buf[7])<<48 | int64(buf[6])<<40 | int64(buf[5])<<32 |
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@@ -335,16 +334,10 @@ outer:
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ntpUs := int64(buf[16])<<56 | int64(buf[15])<<48 | int64(buf[14])<<40 | int64(buf[13])<<32 |
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int64(buf[12])<<24 | int64(buf[11])<<16 | int64(buf[10])<<8 | int64(buf[9])
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var nalus h264.AnnexB
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err = nalus.Unmarshal(buf[17:])
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if err != nil {
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return err
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}
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c.onData(
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multiplyAndDivide(dts, 90000, 1e6),
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time.Unix(ntpUs/1e6, (ntpUs%1e6)*1000),
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nalus)
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buf[17:])
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case 's':
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dts := int64(buf[8])<<56 | int64(buf[7])<<48 | int64(buf[6])<<40 | int64(buf[5])<<32 |
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@@ -363,7 +356,7 @@ outer:
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}
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}
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func (c *camera) reloadParams(params params) {
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func (c *camera) reloadParams(params cameraParams) {
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c.pipeOut.write(append([]byte{'c'}, params.serialize()...))
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}
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@@ -1,28 +0,0 @@
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//go:build !linux || (!arm && !arm64)
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package rpicamera
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import (
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"fmt"
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"time"
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)
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type camera struct {
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params params
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onData func(int64, time.Time, [][]byte)
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onDataSecondary func(int64, time.Time, []byte)
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}
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func (c *camera) initialize() error {
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return fmt.Errorf("server was compiled without support for the Raspberry Pi Camera")
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}
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func (c *camera) close() {
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}
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func (c *camera) reloadParams(_ params) {
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}
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func (c *camera) wait() error {
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return nil
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}
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@@ -0,0 +1,155 @@
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//go:build (linux && arm) || (linux && arm64)
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package rpicamera
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import (
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"encoding/base64"
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"reflect"
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"strconv"
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"strings"
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"github.com/bluenviron/mediamtx/internal/conf"
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"github.com/bluenviron/mediamtx/internal/logger"
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)
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type cameraParams struct {
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LogLevel string
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CameraID uint32
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Width uint32
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Height uint32
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HFlip bool
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VFlip bool
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Brightness float32
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Contrast float32
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Saturation float32
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Sharpness float32
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Exposure string
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AWB string
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AWBGainRed float32
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AWBGainBlue float32
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Denoise string
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Shutter uint32
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Metering string
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Gain float32
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EV float32
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ROI string
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HDR bool
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TuningFile string
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Mode string
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FPS float32
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AfMode string
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AfRange string
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AfSpeed string
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LensPosition float32
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AfWindow string
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FlickerPeriod uint32
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TextOverlayEnable bool
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TextOverlay string
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Codec string
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IDRPeriod uint32
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Bitrate uint32
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HardwareH264Profile string
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HardwareH264Level string
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SoftwareH264Profile string
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SoftwareH264Level string
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SecondaryWidth uint32
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SecondaryHeight uint32
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SecondaryFPS float32
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SecondaryMJPEGQuality uint32
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}
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func (p *cameraParams) fromConf(logLevel conf.LogLevel, cnf *conf.Path) {
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p.LogLevel = func() string {
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switch logLevel {
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case conf.LogLevel(logger.Debug):
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return "debug"
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case conf.LogLevel(logger.Info):
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return "info"
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case conf.LogLevel(logger.Warn):
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return "warn"
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}
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return "error"
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}()
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p.CameraID = uint32(cnf.RPICameraCamID)
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p.Width = uint32(cnf.RPICameraWidth)
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p.Height = uint32(cnf.RPICameraHeight)
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p.HFlip = cnf.RPICameraHFlip
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p.VFlip = cnf.RPICameraVFlip
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p.Brightness = float32(cnf.RPICameraBrightness)
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p.Contrast = float32(cnf.RPICameraContrast)
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p.Saturation = float32(cnf.RPICameraSaturation)
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p.Sharpness = float32(cnf.RPICameraSharpness)
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p.Exposure = cnf.RPICameraExposure
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p.AWB = cnf.RPICameraAWB
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p.AWBGainRed = float32(cnf.RPICameraAWBGains[0])
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p.AWBGainBlue = float32(cnf.RPICameraAWBGains[1])
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p.Denoise = cnf.RPICameraDenoise
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p.Shutter = uint32(cnf.RPICameraShutter)
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p.Metering = cnf.RPICameraMetering
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p.Gain = float32(cnf.RPICameraGain)
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p.EV = float32(cnf.RPICameraEV)
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p.ROI = cnf.RPICameraROI
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p.HDR = cnf.RPICameraHDR
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p.TuningFile = cnf.RPICameraTuningFile
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p.Mode = cnf.RPICameraMode
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p.FPS = float32(cnf.RPICameraFPS)
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p.AfMode = cnf.RPICameraAfMode
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p.AfRange = cnf.RPICameraAfRange
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p.AfSpeed = cnf.RPICameraAfSpeed
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p.LensPosition = float32(cnf.RPICameraLensPosition)
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p.AfWindow = cnf.RPICameraAfWindow
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p.FlickerPeriod = uint32(cnf.RPICameraFlickerPeriod)
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p.TextOverlayEnable = cnf.RPICameraTextOverlayEnable
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p.TextOverlay = cnf.RPICameraTextOverlay
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p.Codec = cnf.RPICameraCodec
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p.IDRPeriod = uint32(cnf.RPICameraIDRPeriod)
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p.Bitrate = uint32(cnf.RPICameraBitrate)
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p.HardwareH264Profile = cnf.RPICameraHardwareH264Profile
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p.HardwareH264Level = cnf.RPICameraHardwareH264Level
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p.SoftwareH264Profile = cnf.RPICameraSoftwareH264Profile
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p.SoftwareH264Level = cnf.RPICameraSoftwareH264Level
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p.SecondaryWidth = uint32(cnf.RPICameraSecondaryWidth)
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p.SecondaryHeight = uint32(cnf.RPICameraSecondaryHeight)
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p.SecondaryFPS = float32(cnf.RPICameraSecondaryFPS)
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p.SecondaryMJPEGQuality = uint32(cnf.RPICameraSecondaryMJPEGQuality)
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}
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func (p cameraParams) serialize() []byte {
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rv := reflect.ValueOf(p)
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rt := rv.Type()
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nf := rv.NumField()
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ret := make([]string, nf)
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for i := range nf {
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entry := rt.Field(i).Name + ":"
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f := rv.Field(i)
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v := f.Interface()
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switch v := v.(type) {
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case uint32:
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entry += strconv.FormatUint(uint64(v), 10)
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case float32:
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entry += strconv.FormatFloat(float64(v), 'f', -1, 64)
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case string:
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entry += base64.StdEncoding.EncodeToString([]byte(v))
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case bool:
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if f.Bool() {
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entry += "1"
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} else {
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entry += "0"
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}
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default:
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panic("unhandled type")
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}
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ret[i] = entry
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}
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return []byte(strings.Join(ret, " "))
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}
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@@ -1,47 +0,0 @@
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package rpicamera
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type params struct {
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LogLevel string
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CameraID uint32
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Width uint32
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Height uint32
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HFlip bool
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VFlip bool
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Brightness float32
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Contrast float32
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Saturation float32
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Sharpness float32
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Exposure string
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AWB string
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AWBGainRed float32
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AWBGainBlue float32
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Denoise string
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Shutter uint32
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Metering string
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Gain float32
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EV float32
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ROI string
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HDR bool
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TuningFile string
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Mode string
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FPS float32
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AfMode string
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AfRange string
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AfSpeed string
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LensPosition float32
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AfWindow string
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FlickerPeriod uint32
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TextOverlayEnable bool
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TextOverlay string
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Codec string
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IDRPeriod uint32
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Bitrate uint32
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HardwareH264Profile string
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HardwareH264Level string
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SoftwareH264Profile string
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SoftwareH264Level string
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SecondaryWidth uint32
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SecondaryHeight uint32
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SecondaryFPS float32
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SecondaryMJPEGQuality uint32
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}
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@@ -1,48 +0,0 @@
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//go:build (linux && arm) || (linux && arm64)
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package rpicamera
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import (
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"encoding/base64"
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"reflect"
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"strconv"
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"strings"
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)
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func (p params) serialize() []byte {
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rv := reflect.ValueOf(p)
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rt := rv.Type()
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nf := rv.NumField()
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ret := make([]string, nf)
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for i := range nf {
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entry := rt.Field(i).Name + ":"
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f := rv.Field(i)
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v := f.Interface()
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switch v := v.(type) {
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case uint32:
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entry += strconv.FormatUint(uint64(v), 10)
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case float32:
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entry += strconv.FormatFloat(float64(v), 'f', -1, 64)
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case string:
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entry += base64.StdEncoding.EncodeToString([]byte(v))
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case bool:
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if f.Bool() {
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entry += "1"
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} else {
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entry += "0"
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}
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default:
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panic("unhandled type")
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}
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ret[i] = entry
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}
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return []byte(strings.Join(ret, " "))
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}
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@@ -2,104 +2,11 @@
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package rpicamera
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import (
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"context"
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"errors"
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"fmt"
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"time"
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"github.com/bluenviron/gortsplib/v5/pkg/description"
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"github.com/bluenviron/gortsplib/v5/pkg/format"
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"github.com/bluenviron/gortsplib/v5/pkg/format/rtph264"
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"github.com/bluenviron/gortsplib/v5/pkg/format/rtpmjpeg"
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"github.com/pion/rtp"
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"github.com/bluenviron/mediamtx/internal/conf"
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"github.com/bluenviron/mediamtx/internal/defs"
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"github.com/bluenviron/mediamtx/internal/logger"
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"github.com/bluenviron/mediamtx/internal/stream"
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"github.com/bluenviron/mediamtx/internal/unit"
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)
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const (
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pauseBetweenErrors = 1 * time.Second
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)
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func paramsFromConf(logLevel conf.LogLevel, cnf *conf.Path) params {
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return params{
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LogLevel: func() string {
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switch logLevel {
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case conf.LogLevel(logger.Debug):
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return "debug"
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case conf.LogLevel(logger.Info):
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return "info"
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case conf.LogLevel(logger.Warn):
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return "warn"
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}
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return "error"
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}(),
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CameraID: uint32(cnf.RPICameraCamID),
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Width: uint32(cnf.RPICameraWidth),
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Height: uint32(cnf.RPICameraHeight),
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HFlip: cnf.RPICameraHFlip,
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VFlip: cnf.RPICameraVFlip,
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Brightness: float32(cnf.RPICameraBrightness),
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Contrast: float32(cnf.RPICameraContrast),
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Saturation: float32(cnf.RPICameraSaturation),
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Sharpness: float32(cnf.RPICameraSharpness),
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Exposure: cnf.RPICameraExposure,
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AWB: cnf.RPICameraAWB,
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AWBGainRed: float32(cnf.RPICameraAWBGains[0]),
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AWBGainBlue: float32(cnf.RPICameraAWBGains[1]),
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Denoise: cnf.RPICameraDenoise,
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Shutter: uint32(cnf.RPICameraShutter),
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Metering: cnf.RPICameraMetering,
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Gain: float32(cnf.RPICameraGain),
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EV: float32(cnf.RPICameraEV),
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ROI: cnf.RPICameraROI,
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HDR: cnf.RPICameraHDR,
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TuningFile: cnf.RPICameraTuningFile,
|
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Mode: cnf.RPICameraMode,
|
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FPS: float32(cnf.RPICameraFPS),
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AfMode: cnf.RPICameraAfMode,
|
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AfRange: cnf.RPICameraAfRange,
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AfSpeed: cnf.RPICameraAfSpeed,
|
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LensPosition: float32(cnf.RPICameraLensPosition),
|
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AfWindow: cnf.RPICameraAfWindow,
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FlickerPeriod: uint32(cnf.RPICameraFlickerPeriod),
|
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TextOverlayEnable: cnf.RPICameraTextOverlayEnable,
|
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TextOverlay: cnf.RPICameraTextOverlay,
|
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Codec: cnf.RPICameraCodec,
|
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IDRPeriod: uint32(cnf.RPICameraIDRPeriod),
|
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Bitrate: uint32(cnf.RPICameraBitrate),
|
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HardwareH264Profile: cnf.RPICameraHardwareH264Profile,
|
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HardwareH264Level: cnf.RPICameraHardwareH264Level,
|
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SoftwareH264Profile: cnf.RPICameraSoftwareH264Profile,
|
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SoftwareH264Level: cnf.RPICameraSoftwareH264Level,
|
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SecondaryWidth: uint32(cnf.RPICameraSecondaryWidth),
|
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SecondaryHeight: uint32(cnf.RPICameraSecondaryHeight),
|
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SecondaryFPS: float32(cnf.RPICameraSecondaryFPS),
|
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SecondaryMJPEGQuality: uint32(cnf.RPICameraSecondaryMJPEGQuality),
|
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}
|
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}
|
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|
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type secondaryReader struct {
|
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ctx context.Context
|
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ctxCancel func()
|
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}
|
||||
|
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// Close implements reader.
|
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func (r *secondaryReader) Close() {
|
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r.ctxCancel()
|
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}
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|
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// APIReaderDescribe implements reader.
|
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func (*secondaryReader) APIReaderDescribe() *defs.APIPathReader {
|
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return &defs.APIPathReader{
|
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Type: defs.APIPathReaderTypeHidden,
|
||||
ID: "",
|
||||
}
|
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}
|
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|
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type parent interface {
|
||||
logger.Writer
|
||||
SetReady(req defs.PathSourceStaticSetReadyReq) defs.PathSourceStaticSetReadyRes
|
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@@ -119,245 +26,6 @@ func (s *Source) Log(level logger.Level, format string, args ...any) {
|
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s.Parent.Log(level, "[RPI Camera source] "+format, args...)
|
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}
|
||||
|
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// Run implements StaticSource.
|
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func (s *Source) Run(params defs.StaticSourceRunParams) error {
|
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if !params.Conf.RPICameraSecondary {
|
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return s.runPrimary(params)
|
||||
}
|
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return s.runSecondary(params)
|
||||
}
|
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|
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func (s *Source) runPrimary(params defs.StaticSourceRunParams) error {
|
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var medias []*description.Media
|
||||
|
||||
medi := &description.Media{
|
||||
Type: description.MediaTypeVideo,
|
||||
Formats: []format.Format{&format.H264{
|
||||
PayloadTyp: 96,
|
||||
PacketizationMode: 1,
|
||||
}},
|
||||
}
|
||||
medias = append(medias, medi)
|
||||
|
||||
var mediaSecondary *description.Media
|
||||
|
||||
if params.Conf.RPICameraSecondaryWidth != 0 {
|
||||
mediaSecondary = &description.Media{
|
||||
Type: description.MediaTypeApplication,
|
||||
Formats: []format.Format{&format.Generic{
|
||||
PayloadTyp: 96,
|
||||
RTPMa: "rpicamera_secondary/90000",
|
||||
ClockRat: 90000,
|
||||
}},
|
||||
}
|
||||
medias = append(medias, mediaSecondary)
|
||||
}
|
||||
|
||||
var subStream *stream.SubStream
|
||||
|
||||
initializeStream := func() {
|
||||
if subStream == nil {
|
||||
res := s.Parent.SetReady(defs.PathSourceStaticSetReadyReq{
|
||||
Desc: &description.Session{Medias: medias},
|
||||
UseRTPPackets: true,
|
||||
ReplaceNTP: false,
|
||||
})
|
||||
if res.Err != nil {
|
||||
panic("should not happen")
|
||||
}
|
||||
|
||||
subStream = res.SubStream
|
||||
}
|
||||
}
|
||||
|
||||
encH264 := &rtph264.Encoder{
|
||||
PayloadType: 96,
|
||||
PayloadMaxSize: s.RTPMaxPayloadSize,
|
||||
PacketizationMode: 1,
|
||||
}
|
||||
err := encH264.Init()
|
||||
if err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
onData := func(pts int64, ntp time.Time, au [][]byte) {
|
||||
initializeStream()
|
||||
|
||||
pkts, err2 := encH264.Encode(au)
|
||||
if err2 != nil {
|
||||
s.Log(logger.Error, err2.Error())
|
||||
return
|
||||
}
|
||||
|
||||
for _, pkt := range pkts {
|
||||
pkt.Timestamp = uint32(pts)
|
||||
subStream.WriteUnit(medi, medi.Formats[0], &unit.Unit{
|
||||
PTS: pts,
|
||||
NTP: ntp,
|
||||
RTPPackets: []*rtp.Packet{pkt},
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
var onDataSecondary func(pts int64, ntp time.Time, au []byte)
|
||||
|
||||
if params.Conf.RPICameraSecondaryWidth != 0 {
|
||||
encJpeg := &rtpmjpeg.Encoder{
|
||||
PayloadMaxSize: s.RTPMaxPayloadSize,
|
||||
}
|
||||
err = encJpeg.Init()
|
||||
if err != nil {
|
||||
panic(err)
|
||||
}
|
||||
|
||||
onDataSecondary = func(pts int64, ntp time.Time, au []byte) {
|
||||
initializeStream()
|
||||
|
||||
pkts, err2 := encJpeg.Encode(au)
|
||||
if err2 != nil {
|
||||
s.Log(logger.Error, err2.Error())
|
||||
return
|
||||
}
|
||||
|
||||
for _, pkt := range pkts {
|
||||
pkt.Timestamp = uint32(pts)
|
||||
pkt.PayloadType = 96
|
||||
subStream.WriteUnit(mediaSecondary, mediaSecondary.Formats[0], &unit.Unit{
|
||||
PTS: pts,
|
||||
NTP: ntp,
|
||||
RTPPackets: []*rtp.Packet{pkt},
|
||||
})
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
defer func() {
|
||||
if subStream != nil {
|
||||
s.Parent.SetNotReady(defs.PathSourceStaticSetNotReadyReq{})
|
||||
}
|
||||
}()
|
||||
|
||||
cam := &camera{
|
||||
params: paramsFromConf(s.LogLevel, params.Conf),
|
||||
onData: onData,
|
||||
onDataSecondary: onDataSecondary,
|
||||
}
|
||||
err = cam.initialize() //nolint:staticcheck
|
||||
if err != nil { //nolint:staticcheck
|
||||
return err
|
||||
}
|
||||
defer cam.close()
|
||||
|
||||
cameraErr := make(chan error)
|
||||
go func() {
|
||||
cameraErr <- cam.wait()
|
||||
}()
|
||||
|
||||
for {
|
||||
select {
|
||||
case err = <-cameraErr:
|
||||
return err
|
||||
|
||||
case cnf := <-params.ReloadConf:
|
||||
cam.reloadParams(paramsFromConf(s.LogLevel, cnf))
|
||||
|
||||
case <-params.Context.Done():
|
||||
return nil
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func (s *Source) runSecondary(params defs.StaticSourceRunParams) error {
|
||||
r := &secondaryReader{}
|
||||
r.ctx, r.ctxCancel = context.WithCancel(context.Background())
|
||||
defer r.ctxCancel()
|
||||
|
||||
path, primaryStream, err := s.waitForPrimary(r, params)
|
||||
if err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
defer path.RemoveReader(defs.PathRemoveReaderReq{Author: r})
|
||||
|
||||
media := &description.Media{
|
||||
Type: description.MediaTypeVideo,
|
||||
Formats: []format.Format{&format.MJPEG{}},
|
||||
}
|
||||
|
||||
res := s.Parent.SetReady(defs.PathSourceStaticSetReadyReq{
|
||||
Desc: &description.Session{Medias: []*description.Media{media}},
|
||||
UseRTPPackets: true,
|
||||
})
|
||||
if res.Err != nil {
|
||||
return res.Err
|
||||
}
|
||||
|
||||
rdr := &stream.Reader{Parent: s}
|
||||
|
||||
rdr.OnData(
|
||||
primaryStream.OrigDesc.Medias[1],
|
||||
primaryStream.OrigDesc.Medias[1].Formats[0],
|
||||
func(u *unit.Unit) error {
|
||||
pkt := u.RTPPackets[0]
|
||||
|
||||
newPkt := &rtp.Packet{
|
||||
Header: pkt.Header,
|
||||
Payload: pkt.Payload,
|
||||
}
|
||||
newPkt.PayloadType = 26
|
||||
|
||||
res.SubStream.WriteUnit(media, media.Formats[0], &unit.Unit{
|
||||
PTS: u.PTS,
|
||||
NTP: u.NTP,
|
||||
RTPPackets: []*rtp.Packet{newPkt},
|
||||
})
|
||||
return nil
|
||||
})
|
||||
|
||||
primaryStream.AddReader(rdr)
|
||||
defer primaryStream.RemoveReader(rdr)
|
||||
|
||||
select {
|
||||
case err = <-rdr.Error():
|
||||
return err
|
||||
|
||||
case <-r.ctx.Done():
|
||||
return fmt.Errorf("primary stream closed")
|
||||
|
||||
case <-params.Context.Done():
|
||||
return fmt.Errorf("terminated")
|
||||
}
|
||||
}
|
||||
|
||||
func (s *Source) waitForPrimary(
|
||||
r *secondaryReader,
|
||||
params defs.StaticSourceRunParams,
|
||||
) (defs.Path, *stream.Stream, error) {
|
||||
for {
|
||||
res, err := s.Parent.AddReader(defs.PathAddReaderReq{
|
||||
Author: r,
|
||||
AccessRequest: defs.PathAccessRequest{
|
||||
Name: params.Conf.RPICameraPrimaryName,
|
||||
SkipAuth: true,
|
||||
},
|
||||
})
|
||||
if err != nil {
|
||||
if _, ok := errors.AsType[*defs.PathNoStreamAvailableError](err); ok {
|
||||
select {
|
||||
case <-time.After(pauseBetweenErrors):
|
||||
case <-params.Context.Done():
|
||||
return nil, nil, fmt.Errorf("terminated")
|
||||
}
|
||||
continue
|
||||
}
|
||||
|
||||
return nil, nil, err
|
||||
}
|
||||
|
||||
return res.Path, res.Stream, nil
|
||||
}
|
||||
}
|
||||
|
||||
// APISourceDescribe implements StaticSource.
|
||||
func (*Source) APISourceDescribe() *defs.APIPathSource {
|
||||
return &defs.APIPathSource{
|
||||
|
||||
@@ -0,0 +1,299 @@
|
||||
//go:build (linux && arm) || (linux && arm64)
|
||||
|
||||
package rpicamera
|
||||
|
||||
import (
|
||||
"context"
|
||||
"errors"
|
||||
"fmt"
|
||||
"time"
|
||||
|
||||
"github.com/bluenviron/gortsplib/v5/pkg/description"
|
||||
"github.com/bluenviron/gortsplib/v5/pkg/format"
|
||||
"github.com/bluenviron/gortsplib/v5/pkg/format/rtph264"
|
||||
"github.com/bluenviron/gortsplib/v5/pkg/format/rtpmjpeg"
|
||||
"github.com/bluenviron/mediacommon/v2/pkg/codecs/h264"
|
||||
"github.com/bluenviron/mediamtx/internal/defs"
|
||||
"github.com/bluenviron/mediamtx/internal/logger"
|
||||
"github.com/bluenviron/mediamtx/internal/stream"
|
||||
"github.com/bluenviron/mediamtx/internal/unit"
|
||||
"github.com/pion/rtp"
|
||||
)
|
||||
|
||||
const (
|
||||
pauseBetweenErrors = 1 * time.Second
|
||||
)
|
||||
|
||||
type secondaryReader struct {
|
||||
ctx context.Context
|
||||
ctxCancel func()
|
||||
}
|
||||
|
||||
// Close implements reader.
|
||||
func (r *secondaryReader) Close() {
|
||||
r.ctxCancel()
|
||||
}
|
||||
|
||||
// APIReaderDescribe implements reader.
|
||||
func (*secondaryReader) APIReaderDescribe() *defs.APIPathReader {
|
||||
return &defs.APIPathReader{
|
||||
Type: defs.APIPathReaderTypeHidden,
|
||||
ID: "",
|
||||
}
|
||||
}
|
||||
|
||||
// Run implements StaticSource.
|
||||
func (s *Source) Run(params defs.StaticSourceRunParams) error {
|
||||
if !params.Conf.RPICameraSecondary {
|
||||
return s.runPrimary(params)
|
||||
}
|
||||
return s.runSecondary(params)
|
||||
}
|
||||
|
||||
func (s *Source) runPrimary(params defs.StaticSourceRunParams) error {
|
||||
var medias []*description.Media
|
||||
|
||||
forma := &format.H264{
|
||||
PayloadTyp: 96,
|
||||
PacketizationMode: 1,
|
||||
}
|
||||
|
||||
media := &description.Media{
|
||||
Type: description.MediaTypeVideo,
|
||||
Formats: []format.Format{forma},
|
||||
}
|
||||
medias = append(medias, media)
|
||||
|
||||
var mediaSecondary *description.Media
|
||||
|
||||
if params.Conf.RPICameraSecondaryWidth != 0 {
|
||||
mediaSecondary = &description.Media{
|
||||
Type: description.MediaTypeApplication,
|
||||
Formats: []format.Format{&format.Generic{
|
||||
PayloadTyp: 96,
|
||||
RTPMa: "rpicamera_secondary/90000",
|
||||
ClockRat: 90000,
|
||||
}},
|
||||
}
|
||||
medias = append(medias, mediaSecondary)
|
||||
}
|
||||
|
||||
encH264 := &rtph264.Encoder{
|
||||
PayloadType: 96,
|
||||
PayloadMaxSize: s.RTPMaxPayloadSize,
|
||||
PacketizationMode: 1,
|
||||
}
|
||||
err := encH264.Init()
|
||||
if err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
encode := func(au []byte) ([]*rtp.Packet, error) {
|
||||
var nalus h264.AnnexB
|
||||
err = nalus.Unmarshal(au)
|
||||
if err != nil {
|
||||
return nil, err
|
||||
}
|
||||
|
||||
return encH264.Encode(nalus)
|
||||
}
|
||||
|
||||
var subStream *stream.SubStream
|
||||
|
||||
initializeSubStream := func() {
|
||||
if subStream == nil {
|
||||
res := s.Parent.SetReady(defs.PathSourceStaticSetReadyReq{
|
||||
Desc: &description.Session{Medias: medias},
|
||||
UseRTPPackets: true,
|
||||
ReplaceNTP: false,
|
||||
})
|
||||
if res.Err != nil {
|
||||
panic("should not happen")
|
||||
}
|
||||
|
||||
subStream = res.SubStream
|
||||
}
|
||||
}
|
||||
|
||||
onData := func(pts int64, ntp time.Time, au []byte) {
|
||||
initializeSubStream()
|
||||
|
||||
pkts, err2 := encode(au)
|
||||
if err2 != nil {
|
||||
s.Log(logger.Error, err2.Error())
|
||||
return
|
||||
}
|
||||
|
||||
for _, pkt := range pkts {
|
||||
pkt.Timestamp = uint32(pts)
|
||||
subStream.WriteUnit(media, media.Formats[0], &unit.Unit{
|
||||
PTS: pts,
|
||||
NTP: ntp,
|
||||
RTPPackets: []*rtp.Packet{pkt},
|
||||
})
|
||||
}
|
||||
}
|
||||
|
||||
var onDataSecondary func(pts int64, ntp time.Time, au []byte)
|
||||
|
||||
if params.Conf.RPICameraSecondaryWidth != 0 {
|
||||
encJpeg := &rtpmjpeg.Encoder{
|
||||
PayloadMaxSize: s.RTPMaxPayloadSize,
|
||||
}
|
||||
err := encJpeg.Init()
|
||||
if err != nil {
|
||||
panic(err)
|
||||
}
|
||||
|
||||
onDataSecondary = func(pts int64, ntp time.Time, au []byte) {
|
||||
initializeSubStream()
|
||||
|
||||
pkts, err2 := encJpeg.Encode(au)
|
||||
if err2 != nil {
|
||||
s.Log(logger.Error, err2.Error())
|
||||
return
|
||||
}
|
||||
|
||||
for _, pkt := range pkts {
|
||||
pkt.Timestamp = uint32(pts)
|
||||
pkt.PayloadType = 96
|
||||
subStream.WriteUnit(mediaSecondary, mediaSecondary.Formats[0], &unit.Unit{
|
||||
PTS: pts,
|
||||
NTP: ntp,
|
||||
RTPPackets: []*rtp.Packet{pkt},
|
||||
})
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
defer func() {
|
||||
if subStream != nil {
|
||||
s.Parent.SetNotReady(defs.PathSourceStaticSetNotReadyReq{})
|
||||
}
|
||||
}()
|
||||
|
||||
var p cameraParams
|
||||
p.fromConf(s.LogLevel, params.Conf)
|
||||
|
||||
cam := &camera{
|
||||
params: p,
|
||||
onData: onData,
|
||||
onDataSecondary: onDataSecondary,
|
||||
}
|
||||
err = cam.initialize() //nolint:staticcheck
|
||||
if err != nil { //nolint:staticcheck
|
||||
return err
|
||||
}
|
||||
defer cam.close()
|
||||
|
||||
cameraErr := make(chan error)
|
||||
go func() {
|
||||
cameraErr <- cam.wait()
|
||||
}()
|
||||
|
||||
for {
|
||||
select {
|
||||
case err = <-cameraErr:
|
||||
return err
|
||||
|
||||
case cnf := <-params.ReloadConf:
|
||||
var p cameraParams
|
||||
p.fromConf(s.LogLevel, cnf)
|
||||
cam.reloadParams(p)
|
||||
|
||||
case <-params.Context.Done():
|
||||
return nil
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
func (s *Source) runSecondary(params defs.StaticSourceRunParams) error {
|
||||
r := &secondaryReader{}
|
||||
r.ctx, r.ctxCancel = context.WithCancel(context.Background())
|
||||
defer r.ctxCancel()
|
||||
|
||||
path, primaryStream, err := s.waitForPrimary(r, params)
|
||||
if err != nil {
|
||||
return err
|
||||
}
|
||||
|
||||
defer path.RemoveReader(defs.PathRemoveReaderReq{Author: r})
|
||||
|
||||
media := &description.Media{
|
||||
Type: description.MediaTypeVideo,
|
||||
Formats: []format.Format{&format.MJPEG{}},
|
||||
}
|
||||
|
||||
res := s.Parent.SetReady(defs.PathSourceStaticSetReadyReq{
|
||||
Desc: &description.Session{Medias: []*description.Media{media}},
|
||||
UseRTPPackets: true,
|
||||
})
|
||||
if res.Err != nil {
|
||||
return res.Err
|
||||
}
|
||||
|
||||
rdr := &stream.Reader{Parent: s}
|
||||
|
||||
rdr.OnData(
|
||||
primaryStream.OrigDesc.Medias[1],
|
||||
primaryStream.OrigDesc.Medias[1].Formats[0],
|
||||
func(u *unit.Unit) error {
|
||||
pkt := u.RTPPackets[0]
|
||||
|
||||
newPkt := &rtp.Packet{
|
||||
Header: pkt.Header,
|
||||
Payload: pkt.Payload,
|
||||
}
|
||||
newPkt.PayloadType = 26
|
||||
|
||||
res.SubStream.WriteUnit(media, media.Formats[0], &unit.Unit{
|
||||
PTS: u.PTS,
|
||||
NTP: u.NTP,
|
||||
RTPPackets: []*rtp.Packet{newPkt},
|
||||
})
|
||||
return nil
|
||||
})
|
||||
|
||||
primaryStream.AddReader(rdr)
|
||||
defer primaryStream.RemoveReader(rdr)
|
||||
|
||||
select {
|
||||
case err = <-rdr.Error():
|
||||
return err
|
||||
|
||||
case <-r.ctx.Done():
|
||||
return fmt.Errorf("primary stream closed")
|
||||
|
||||
case <-params.Context.Done():
|
||||
return fmt.Errorf("terminated")
|
||||
}
|
||||
}
|
||||
|
||||
func (s *Source) waitForPrimary(
|
||||
r *secondaryReader,
|
||||
params defs.StaticSourceRunParams,
|
||||
) (defs.Path, *stream.Stream, error) {
|
||||
for {
|
||||
res, err := s.Parent.AddReader(defs.PathAddReaderReq{
|
||||
Author: r,
|
||||
AccessRequest: defs.PathAccessRequest{
|
||||
Name: params.Conf.RPICameraPrimaryName,
|
||||
SkipAuth: true,
|
||||
},
|
||||
})
|
||||
if err != nil {
|
||||
if _, ok := errors.AsType[*defs.PathNoStreamAvailableError](err); ok {
|
||||
select {
|
||||
case <-time.After(pauseBetweenErrors):
|
||||
case <-params.Context.Done():
|
||||
return nil, nil, fmt.Errorf("terminated")
|
||||
}
|
||||
continue
|
||||
}
|
||||
|
||||
return nil, nil, err
|
||||
}
|
||||
|
||||
return res.Path, res.Stream, nil
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,14 @@
|
||||
//go:build !linux || (!arm && !arm64)
|
||||
|
||||
package rpicamera
|
||||
|
||||
import (
|
||||
"fmt"
|
||||
|
||||
"github.com/bluenviron/mediamtx/internal/defs"
|
||||
)
|
||||
|
||||
// Run implements StaticSource.
|
||||
func (s *Source) Run(_ defs.StaticSourceRunParams) error {
|
||||
return fmt.Errorf("server was compiled without support for the Raspberry Pi Camera")
|
||||
}
|
||||
Reference in New Issue
Block a user